/*
The MIT License (MIT)

Copyright (c) 2013 Mike Dapiran, Brian May, Richard Pospesel, and Bert Wierenga

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software 
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
//#include "../Hogshead.BulletPhysics.Enums.h"
#include "../Hogshead.BulletPhysics.h"

#include <tinyxml.h>

namespace Hogshead
{
	namespace BulletPhysics
	{
		ComponentCPP(Hogshead::BulletPhysics::CollisionShape);

		CollisionShape::CollisionShape()
		{
			_collision_shape_types = (CollisionShapeType)0;
		}

		
		IComponent* CollisionShape::clone() const
		{
			CollisionShape* result = Factory::acquire<CollisionShape>();
			result->_collision_shape_types = _collision_shape_types;
			for(int k = 0; k < _raw_collision_data.size(); k++)
				result->_raw_collision_data.add(_raw_collision_data[k]);


			return result;
		}


		void CollisionShape::initialize()
		{
			
		}

		void CollisionShape::finalize()
		{
			_raw_collision_data.clear();
			_collision_shape_types = (CollisionShapeType)0;
		}

		IComponent* CollisionShape::readXML(const String& in_xml) 
		{
			IComponent::readXML(in_xml);

			TiXmlDocument document;
			document.Parse(in_xml);

			TiXmlElement* node = document.RootElement();


			// iterate over each node
			for(TiXmlNode* child = node->IterateChildren(0); child != NULL; child = node->IterateChildren(child))
			{
				if(String::equals(child->Value(), "Collider"))
				{

					// string ot store the collision shape type"
					String cst_string;

					TiXmlElement* elem = child->ToElement();
					if(elem->QueryStringAttribute("type", &cst_string) == TIXML_SUCCESS)
					{
						CollisionShapeType shape_type = (CollisionShapeType)0;
						if(Hogshead::BulletPhysics::collision_shape_enum_table->tryGetValue(cst_string, shape_type))
						{
							_collision_shape_types = (CollisionShapeType)(_collision_shape_types | shape_type);
							// common information all colliders will have for local transform
							collision_shape_data shape_data;

							elem->QueryVector3Attribute("position", &shape_data.position);
							elem->QueryVector3Attribute("orientation", &shape_data.orientation);
							
							shape_data.orientation.x = Math::degreesToRadians(shape_data.orientation.x);
							shape_data.orientation.y = Math::degreesToRadians(shape_data.orientation.y);
							shape_data.orientation.z = Math::degreesToRadians(shape_data.orientation.z);

							shape_data.type = shape_type;
							switch(shape_type)
							{
								/** 
								Sphere
									radius defaults to 1.0
								**/
								case CollisionShapeType::Sphere:
								{
									
									float radius = 1.0f;
									elem->QueryFloatAttribute("radius", &radius);
									shape_data.data.sphere.radius = radius;
									break;
								}
								/**
								Plane
									by default, point up (0,1,0)
								**/
								case CollisionShapeType::Plane:
								{
									Vector3 normal(0,1,0);
									elem->QueryVector3Attribute("normal", &normal);

									shape_data.data.plane.normal[0] = normal.x;
									shape_data.data.plane.normal[1] = normal.y;
									shape_data.data.plane.normal[2] = normal.z;
									break;
								}
								/**
								Box
									by default, half width (1,1,1)
									margin 0.04
								**/
								case CollisionShapeType::Box3D:
								{
									Vector3 half_width(1,1,1);
									elem->QueryVector3Attribute("halfWidth", &half_width);
									
									shape_data.data.box3d.half_width[0] = half_width.x;
									shape_data.data.box3d.half_width[1] = half_width.y;
									shape_data.data.box3d.half_width[2] = half_width.z;
									shape_data.margin = 0.04f;
									break;
								}
								/**
								Capsules
									by default: length 1 down the y axis, radius 1 

								**/
								case CollisionShapeType::CapsuleX:
								case CollisionShapeType::CapsuleY:
								case CollisionShapeType::CapsuleZ:
								{
									float height = 1.0f;
									float radius = 1.0f;
									elem->QueryFloatAttribute("height", &height);
									elem->QueryFloatAttribute("radius", &radius);

									shape_data.data.capsule.height = height;
									shape_data.data.capsule.radius = radius;
									shape_data.margin = 0.04f;
									break;
								}

								/** Cones
									by default: height 1  radius 1
								**/
								case CollisionShapeType::ConeX:
								case CollisionShapeType::ConeY:
								case CollisionShapeType::ConeZ:
								{
									float height = 1.0f;
									float radius = 1.0f;
									elem->QueryFloatAttribute("height", &height);
									elem->QueryFloatAttribute("radius", &radius);

									shape_data.data.cone.height = height;
									shape_data.data.cone.radius = radius;
									break;
								}

								/** Frustom **/
								case CollisionShapeType::Frustum:
								{
									shape_data.data.frustum.near_clip = 0.01f;
									shape_data.data.frustum.far_clip = 1000.0f;
									shape_data.data.frustum.horizontal_fov = 90.0f;
									shape_data.data.frustum.aspect_ratio = 16.0f / 10.0f;

									elem->QueryFloatAttribute("nearClip", &shape_data.data.frustum.near_clip);
									elem->QueryFloatAttribute("farClip", &shape_data.data.frustum.far_clip);
									elem->QueryFloatAttribute("fieldOfView", &shape_data.data.frustum.horizontal_fov);
									elem->QueryFloatAttribute("aspectRatio", &shape_data.data.frustum.aspect_ratio);	

									shape_data.data.frustum.horizontal_fov = Math::degreesToRadians(shape_data.data.frustum.horizontal_fov);
								}
							}
							elem->QueryFloatAttribute("margin", &shape_data.margin);
							_raw_collision_data.add(shape_data);
						}
						else
							Hogshead::Common::error(StringBuilder() << "Could not parse Collider type \"" << cst_string << "\"");
					}
				}
			}
			if(_raw_collision_data.size() == 0)
				error("CollisionShape does not have any Colliders in it");

			return this;
		}

		btCollisionShape* CollisionShape::getBulletCollisionShape()
		{
			

			btCompoundShape* result = new btCompoundShape();

			for(int k = 0; k < _raw_collision_data.size(); k++)
			{
				collision_shape_data& csd = _raw_collision_data[k];
				btCollisionShape* bt_shape;
				switch(csd.type)
				{
				case CollisionShapeType::Sphere:
					{
					bt_shape = new btSphereShape(csd.data.sphere.radius);
					break;
					}
				case CollisionShapeType::Box3D:
					{
					float* half_width = csd.data.box3d.half_width;
					bt_shape = new btBoxShape(btVector3(half_width[0], half_width[1], half_width[2]));
					break;
					}
				case CollisionShapeType::Plane:
					{
					float* normal = csd.data.plane.normal;
					bt_shape = new btStaticPlaneShape(btVector3(normal[0], normal[1], normal[2]), 0.0f);
					break;
					}
				case CollisionShapeType::CapsuleX:
					{
					bt_shape = new btCapsuleShapeX(csd.data.capsule.radius, csd.data.capsule.height);
					break;
					}
				case CollisionShapeType::CapsuleY:
					{
					bt_shape = new btCapsuleShape(csd.data.capsule.radius, csd.data.capsule.height);
					break;
					}
				case CollisionShapeType::CapsuleZ:
					{
					bt_shape = new btCapsuleShapeZ(csd.data.capsule.radius, csd.data.capsule.height);
					break;				
					}
				case CollisionShapeType::ConeX:
					{
					bt_shape = new btConeShapeX(csd.data.cone.radius, csd.data.cone.height);
					break;
					}
				case CollisionShapeType::ConeY:
					{
					bt_shape = new btConeShape(csd.data.cone.radius, csd.data.cone.height);
					break;
					}
				case CollisionShapeType::ConeZ:
					{
					bt_shape = new btConeShapeZ(csd.data.cone.radius, csd.data.cone.height);
					break;
					}
				case CollisionShapeType::Frustum:
					{
						Matrix4& projection = Matrix4::createPerspectiveProjection(csd.data.frustum.horizontal_fov, csd.data.frustum.aspect_ratio, csd.data.frustum.near_clip, csd.data.frustum.far_clip);
						Matrix4 projection_inverse;
						projection.getSlowInverse(projection_inverse);

						Vector3 near_point = (projection_inverse * Vector4(1.0f, 1.0f, 0.0, 1.0f)).project() * 0.5;
						Vector3 far_point = (projection_inverse * Vector4(1.0f, 1.0f, 1.0, 1.0f)).project() * 0.5;
						

						//hout << point << endl;

						//float depth = (csd.data.frustum.far_clip - csd.data.frustum.near_clip);
						/*
						points[1].setValue(top_right.x,top_right.y, csd.data.frustum.far_clip);
						points[2].setValue(top_right.x,-top_right.y, csd.data.frustum.far_clip);
						points[3].setValue(-top_right.x,top_right.y, csd.data.frustum.far_clip);
						points[4].setValue(-top_right.x,-top_right.y, csd.data.frustum.far_clip);
						*/
						btConvexHullShape* bt_convex_hull = new btConvexHullShape();
						
						/*
						bt_convex_hull->addPoint(btVector3(near_point.x, near_point.y, near_point.z));
						bt_convex_hull->addPoint(btVector3(-near_point.x, near_point.y, near_point.z));
						bt_convex_hull->addPoint(btVector3(near_point.x, -near_point.y, near_point.z));
						bt_convex_hull->addPoint(btVector3(-near_point.x, -near_point.y, near_point.z));
						*/

						bt_convex_hull->addPoint(btVector3(0,0,0));

						bt_convex_hull->addPoint(btVector3(far_point.x, far_point.y, far_point.z));
						bt_convex_hull->addPoint(btVector3(-far_point.x, far_point.y, far_point.z));
						bt_convex_hull->addPoint(btVector3(far_point.x, -far_point.y, far_point.z));
						bt_convex_hull->addPoint(btVector3(-far_point.x, -far_point.y, far_point.z));

						bt_shape = bt_convex_hull;
						/*
						btVector3* points = bt_convex_hull->getUnscaledPoints();
						for(int k = 0; k < bt_convex_hull->getNumVertices(); k++)
							hout << points[k] << endl;
						hout << endl;
						*/
					}
				}
				bt_shape->setMargin(csd.margin);
				btTransform local_transform(btQuaternion(csd.orientation.x, csd.orientation.y, csd.orientation.z), csd.position);
				result->addChildShape(local_transform, bt_shape);
			}
			return result;			
		}

		void CollisionShape::deleteBtCollisionShape(btCollisionShape* in_shape)
		{
			if(btCompoundShape* compound_shape = dynamic_cast<btCompoundShape*>(in_shape))
			{
				int children = compound_shape->getNumChildShapes();
				for(int k = 0; k < children; k++)
					delete compound_shape->getChildShape(k);
				delete compound_shape;
			}
			else
				delete in_shape;
		}

		bool CollisionShape::collision_shape_data::operator==(const  CollisionShape::collision_shape_data& right)
		{
			char* left_data = (char*)this;
			char* right_data = (char*)&right;
			for(int k = 0; k < sizeof(CollisionShape::collision_shape_data); k++)
				if(left_data[k] != right_data[k])
					return false;
			return true;
		}
	}
}